CN113086135A - Modularized underwater coupling cruising robot - Google Patents
Modularized underwater coupling cruising robot Download PDFInfo
- Publication number
- CN113086135A CN113086135A CN202110337237.9A CN202110337237A CN113086135A CN 113086135 A CN113086135 A CN 113086135A CN 202110337237 A CN202110337237 A CN 202110337237A CN 113086135 A CN113086135 A CN 113086135A
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- coupled
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- 230000008878 coupling Effects 0.000 title abstract description 10
- 238000010168 coupling process Methods 0.000 title abstract description 10
- 238000005859 coupling reaction Methods 0.000 title abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000007667 floating Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 16
- 238000005070 sampling Methods 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000001303 quality assessment method Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
The invention discloses a modular underwater coupling cruising robot, belonging to the technical field of mechanical automation engineering, the cruising robot comprises a tail module, a middle module, a head module and a communication module, the cooperation of the components realizes that professional detection technicians are far away from the site, and can realize the mutual combination of a plurality of detection functions, can realize the quick switching of the functional modules of the robot by arranging the convex quick interface and the concave quick interface, realize the quick combination and interchange of different detection functions and functional modules, realize the underwater resistance reduction and the power management optimization by optimizing the design, realize the large-range underwater inspection of the robot, increase the sampling range and the number of detection samples, therefore, the detected data structure is more accurate, the structure of the invention is simple and easy to operate, and the creativity of the invention is highlighted.
Description
Technical Field
The invention belongs to the technical field of mechanical automation engineering, and particularly relates to a modular underwater coupling cruise robot.
Background
The method for detecting water quality and the water surface motor vessels are various, such as manual sensors, water surface remote control vessels and the like, and are mainly used for detecting water quality and fixed-point water quality and bottom mud sampling in small areas, detecting water quality and bottom mud in riverways, surveying and mapping submarine topography and landforms and the like, which are very important for water safety and environmental protection detection, can provide the most direct judgment basis for water quality assessment and flood disaster advance estimation, and improve the safety emergency level;
the existing underwater rapid-tour method cannot carry out detection in a large range, manual large-range monitoring consumes manpower and material resources and is low in efficiency, a modular underwater coupling cruising robot is not reported at home and abroad at present, and the detection efficiency can be effectively improved by adopting the robot to replace manual detection, so that unmanned and intelligent detection is realized.
Disclosure of Invention
The invention provides a modular underwater coupling cruising robot, which aims to solve the problems that the existing water quality monitoring is carried out by means of manpower, a boat and the like, and large-scale and long-distance monitoring, data acquisition and other work cannot be carried out.
In order to solve the above problems, the present invention adopts the following technical solutions.
The modular underwater coupling cruising robot comprises a cruising robot body, wherein the cruising robot body comprises a tail module, a middle module, a head module and a communication module, the tail module, the middle module and the head module are connected in pairs through rapid modules arranged between the tail module, the middle module and the head module, and the communication module is fixedly connected with the middle module.
Preferably, the tail module comprises a tail shell, a convex quick interface is arranged at the front end of the tail shell of the tail module, and a driver is arranged at the tail end of the tail module.
Preferably, the middle module include cylindrical shell and communication module, communication module fixed connection in the middle of on the module, the both sides of middle module be provided with the superficial material that floats, superficial material fixed connection in the both sides of middle module, the both ends face of middle module on all be provided with convex surface quick interface.
Preferably, the head module be cylindrical structure, the head module include middle cylinder and anterior spheroid, the both ends face fixed connection of middle cylinder and anterior spheroid, the middle cylinder on be provided with the head and float the material, one side terminal surface of head module on be provided with convex surface quick interface.
Preferably, a concave quick interface matched with the convex quick interface is arranged on one side end face of the quick module, and the tail module, the middle module and the head module can be connected in pairs through the cooperation of the convex quick interface and the concave quick interface on the quick module.
Preferably, the deflection joint comprises a vertical connecting piece and a transverse connecting piece, the vertical connecting piece and the transverse connecting piece are mounted and connected on two different quick modules, the vertical connecting piece is fixedly mounted on one side end face of each quick module, a synchronous pulley is arranged on the vertical connecting piece, and the transverse connecting piece is fixedly mounted on one side end face of another quick module.
Preferably, the vertical connecting piece and the transverse connecting piece are connected through a cross shaft, and the cross shaft can rotate between the vertical connecting piece and the transverse connecting piece.
Preferably, the yaw joint is in a middle state of the whole cruise robot, and the axes of the tail module, the middle module and the head module are collinear.
Preferably, a single module control box is arranged in the tail module, floating materials are arranged on the surface of the tail module, and a robot central control system and a power supply module are arranged in the middle module.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) the modular underwater coupling cruising robot realizes that professional detection technicians are far away from the scene, and can realize the mutual combination of various detection functions.
(2) The modular underwater coupling cruising robot can rapidly switch the functional modules of the robot by arranging the convex quick interface and the concave quick interface, and realizes rapid combination and interchange of different detection functions and functional modules.
(3) The modular underwater coupling cruising robot further realizes underwater resistance reduction and power management optimization through optimization design, realizes large-range underwater inspection of the robot, and increases the sampling range and the number of detection samples, so that the detected data structure is more accurate.
Drawings
FIG. 1 is a schematic structural diagram of a modular underwater coupled cruise robot according to the present invention;
FIG. 2 is a top view of the modular underwater coupled cruise robot of the present invention;
FIG. 3 is a schematic structural diagram of a tail module of the cruise robot in the present invention;
FIG. 4 is a schematic structural diagram of a tail module of the cruise robot in the present invention;
FIG. 5 is a schematic view of a middle module of the cruise robot according to the present invention;
FIG. 6 is a schematic structural diagram of another perspective of the intermediate module of the cruise robot in accordance with the present invention;
FIG. 7 is a schematic structural diagram of a head module of the cruise robot in the present invention;
FIG. 8 is a schematic structural view of a fast module and a yaw joint according to the present invention;
FIG. 9 is a schematic view of a deflection joint according to the present invention;
fig. 10 is a front view of the construction of the fast module and the yaw joint of the present invention.
The corresponding relationship between the reference numbers of the figures and the names of the components in the figures is as follows:
in the figure: 100. a cruise robot;
10. a tail module; 11. a tail housing; 12. a driver;
20. an intermediate module; 21. a cylindrical housing; 22. a communication module; 23. surface floating material;
30. a head module; 31. a middle column; 32. a front spherical body; 33. a head float;
40. a yaw joint; 41. a vertical connecting member; 42. a transverse connector; 43. a cross shaft; 44. a synchronous pulley;
50. a convex quick interface;
60. a fast module; 61. concave surface quick connector.
Detailed Description
The invention is further described below in connection with specific embodiments of the invention.
Examples
As shown in fig. 1 to 10, which are schematic structural diagrams of a modular underwater coupled cruise robot according to a preferred embodiment of the present invention, a cruise robot 100 of this embodiment includes four parts, namely a tail module 10, a middle module 20, a head module 30, and a communication module 22, two of the tail module 10, the middle module 20, and the head module 30 are connected by a fast module 60, and the communication module 22 is fixedly connected to the middle module 20.
The fast module 60 is provided with a concave fast interface 61 matched with the convex fast interface 50 on one side end surface, and the tail module 10, the middle module 20 and the head module 30 can be connected in pairs by matching the convex fast interface 50 and the concave fast interface 61 on the fast module 60.
The deflection joint 40 comprises a vertical connecting piece 41 and a transverse connecting piece 42, the vertical connecting piece 41 and the transverse connecting piece 42 are connected to two different rapid modules 60 in an installing mode, the vertical connecting piece 41 is fixedly installed on one side end face of the rapid modules 60, a synchronous belt wheel 44 is arranged on the vertical connecting piece 41, the synchronous belt wheel 44 can swing left and right, the transverse connecting piece 42 is fixedly installed on one side end face of the other rapid module 60, the vertical connecting piece 41 and the transverse connecting piece 42 are connected through a cross shaft 43, the cross shaft 43 can rotate between the vertical connecting piece 41 and the transverse connecting piece 42, and the two rapid modules 60 after being connected can swing freely.
The yaw joint 40 is in the neutral state of the entire cruise robot 100, and the axes of the tail module 10, the middle module 20, and the head module 30 are collinear.
In this embodiment, when the cruise robot 100 is used to perform water quality monitoring or sediment sampling, the cruise robot 100 is placed in water to be monitored and controlled by a controller, the cruise robot 100 moves forward by the power provided by the driver 12 at the rear end of the tail module 10, when the cruise robot 100 performs small-range maneuvering, the motor in the deflection joint 40 drives the synchronous pulley 44 to rotate, the synchronous pulley 44 is fixedly connected with the cross shaft 43 to drive the cross shaft 43 to deflect left and right to swing the deflection joint 40, when the deflection joint 40 between the head module 30 and the middle module 20 swings right, the cruise robot 100 deflects right when the deflection joint 40 between the tail module 10 and the middle module 20 swings left, and when the deflection joint 40 between the head module 30 and the middle module 20 swings left, the cruise robot 100 swings left when the deflection joint 40 between the tail module 10 and the middle module 20 swings right The invention has simple structure and easy operation, can realize that professional detection technicians are far away from the site by arranging the cruise robot 100, can realize the mutual combination of various detection functions, can realize the quick switching of the functional modules of the robot by arranging the convex quick interface 50 and the concave quick interface 61, and realizes the quick combination and interchange of different detection functions and functional modules.
While the invention has been described in detail with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A modular underwater coupled cruise robot comprises a cruise robot (100)
The method is characterized in that:
the cruise robot (100) comprises a tail module (10), a middle module (20), a head module (30) and a communication module (22), wherein the tail module (10), the middle module (20) and the head module (30) are connected in pairs through a quick module (60) arranged in the middle module, and the communication module (22) is fixedly connected with the middle module (20).
2. The modular underwater coupled cruise robot of claim 1, wherein: afterbody module (10) include afterbody shell (11), the front end of afterbody shell (11) of afterbody module (10) be provided with convex surface quick interface (50), the end of afterbody module (10) be provided with driver (12).
3. The modular underwater coupled cruise robot of claim 1, wherein: middle module (20) include cylindrical shell (21) and communication module (22), communication module (22) fixed connection on middle module (20), the both sides of middle module (20) be provided with surface material (23) that floats, surface material (23) fixed connection in the both sides of middle module (20), the both ends face of middle module (20) on all be provided with convex surface quick connector (50).
4. The modular underwater coupled cruise robot of claim 1, wherein: head module (30) be cylindrical structure, head module (30) including middle cylinder (31) and anterior spherical body (32), the both ends face fixed connection of middle cylinder (31) and anterior spherical body (32), middle cylinder (31) on be provided with the head and float material (33), a side end face of head module (30) on be provided with convex surface quick connector (50).
5. The modular underwater coupled cruise robot of claim 1, wherein: the quick module (60) of one side on be provided with convex surface quick connector (50) matched with concave surface quick connector (61), afterbody module (10), middle module (20) and head module (30) accessible convex surface quick connector (50) and quick module (60) go up the cooperation of concave surface quick connector (61) and use two liang of to be connected.
6. The modular underwater coupled cruise robot of claim 1, wherein: the deflection joint (40) comprises a vertical connecting piece (41) and a transverse connecting piece (42), wherein the vertical connecting piece (41) and the transverse connecting piece (42) are installed and connected on two different quick modules (60), the vertical connecting piece (41) is fixedly installed on one side end face of each quick module (60), a synchronous belt wheel (44) is arranged on the vertical connecting piece (41), and the transverse connecting piece (42) is fixedly installed on one side end face of the other quick module (60).
7. The modular underwater coupled cruise robot of claim 6, wherein: the vertical connecting piece (41) and the transverse connecting piece (42) are connected through a cross shaft (43), and the cross shaft (43) can rotate between the vertical connecting piece (41) and the transverse connecting piece (42).
8. The modular underwater coupled cruise robot of claim 6, wherein: the deflecting joint (40) is in the middle state of the whole cruise robot (100), and the axes of the tail module (10), the middle module (20) and the head module (30) are collinear.
9. The modular underwater coupled cruise robot of claim 1, wherein: the robot is characterized in that a single-module control box is arranged inside the tail module (10), floating materials are arranged on the surface of the tail module (10), and a central robot control system and a power supply module are arranged inside the middle module (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110337237.9A CN113086135A (en) | 2021-03-30 | 2021-03-30 | Modularized underwater coupling cruising robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110337237.9A CN113086135A (en) | 2021-03-30 | 2021-03-30 | Modularized underwater coupling cruising robot |
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| Publication Number | Publication Date |
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| CN113086135A true CN113086135A (en) | 2021-07-09 |
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| CN202110337237.9A Pending CN113086135A (en) | 2021-03-30 | 2021-03-30 | Modularized underwater coupling cruising robot |
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-
2021
- 2021-03-30 CN CN202110337237.9A patent/CN113086135A/en active Pending
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